Merge branch 'ign-math6' into ahcorde/pybind11/signalstats

src/python/CMakeLists.txt

@@ -87,14 +87,7 @@ if (PYTHONLIBS_FOUND)
   if (BUILD_TESTING)
     # Add the Python tests
     set(python_tests
-      Box_TEST
-      Cylinder_TEST
-      Frustum_TEST
-      Inertial_TEST
-      OrientedBox_TEST
-      Plane_TEST
       python_TEST
-      Sphere_TEST
       SphericalCoordinates_TEST
       Vector3Stats_TEST
     )

src/python_pybind11/CMakeLists.txt

@@ -18,6 +18,7 @@ if (${pybind11_FOUND})
     src/AxisAlignedBox.cc
     src/Color.cc
     src/DiffDriveOdometry.cc
+    src/Frustum.cc
     src/GaussMarkovProcess.cc
     src/Helpers.cc
     src/Kmeans.cc
@@ -85,32 +86,39 @@ if (${pybind11_FOUND})
     set(python_tests
       Angle_TEST
       AxisAlignedBox_TEST
+      Box_TEST
       Color_TEST
+      Cylinder_TEST
       DiffDriveOdometry_TEST
       Filter_TEST
+      Frustum_TEST
       GaussMarkovProcess_TEST
       Helpers_TEST
+      Inertial_TEST
       Kmeans_TEST
       Line2_TEST
       Line3_TEST
+      MassMatrix3_TEST
       Material_TEST
       Matrix3_TEST
       Matrix4_TEST
-      MassMatrix3_TEST
       MovingWindowFilter_TEST
+      OrientedBox_TEST
       PID_TEST
+      Plane_TEST
       Pose3_TEST
       Quaternion_TEST
       Rand_TEST
       RollingMean_TEST
       RotationSpline_TEST
       SemanticVersion_TEST
       SignalStats_TEST
+      Sphere_TEST
       Spline_TEST
       StopWatch_TEST
       Temperature_TEST
-      Triangle_TEST
       Triangle3_TEST
+      Triangle_TEST
       Vector2_TEST
       Vector3_TEST
       Vector4_TEST

src/python_pybind11/src/Box.hh

@@ -0,0 +1,138 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__BOX_HH_
+#define IGNITION_MATH_PYTHON__BOX_HH_
+
+#include <string>
+#include <vector>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+#include <pybind11/stl.h>
+
+#include <ignition/math/Box.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Box
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void defineMathBox(py::module &m, const std::string &typestr)
+{
+
+  using Class = ignition::math::Box<T>;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def(py::init<const T, const T, const T>())
+    .def(py::init<const T, const T, const T, const ignition::math::Material&>())
+    .def(py::init<const T, const T, const T, const ignition::math::Material&>())
+    .def(py::init<const ignition::math::Vector3<T>&>())
+    .def(py::init<const ignition::math::Vector3<T>&,
+                  const ignition::math::Material&>())
+    .def(py::self != py::self)
+    .def(py::self == py::self)
+    .def("size",
+         &Class::Size,
+         "Get the size of the box.")
+    .def("set_size",
+         py::overload_cast<const ignition::math::Vector3<T>&>
+          (&Class::SetSize),
+         "Set the size of the box.")
+    .def("set_size",
+         py::overload_cast<const T, const T, const T>
+          (&Class::SetSize),
+         "Set the size of the box.")
+    .def("material",
+         &Class::Material,
+         "Get the material associated with this box.")
+    .def("set_material",
+         &Class::SetMaterial,
+         "Set the material associated with this box.")
+    .def("volume",
+         &Class::Volume,
+         "Get the volume of the box in m^3.")
+    .def("volume_below",
+         &Class::VolumeBelow,
+         "Get the volume of the box below a plane.")
+    .def("center_of_volume_below",
+         &Class::CenterOfVolumeBelow,
+         "Center of volume below the plane. This is useful when "
+         "calculating where buoyancy should be applied, for example.")
+    .def("vertices_below",
+         [](const Class &self, const Plane<T> &_plane)
+         {
+           std::vector<ignition::math::Vector3<T>> result;
+           auto vertices = self.VerticesBelow(_plane);
+           for (auto & v : vertices)
+           {
+             result.push_back(v);
+           }
+           return result;
+         },
+         "All the vertices which are on or below the plane.")
+    .def("density_from_mass",
+         &Class::DensityFromMass,
+         "Compute the box's density given a mass value.")
+    .def("set_density_from_mass",
+         &Class::SetDensityFromMass,
+         "Set the density of this box based on a mass value.")
+    .def("mass_matrix",
+         &Class::MassMatrix,
+         "Get the mass matrix for this box. This function "
+         "is only meaningful if the box's size and material "
+         "have been set.")
+    .def("intersections",
+         [](const Class &self, const Plane<T> &_plane)
+         {
+           std::vector<ignition::math::Vector3<T>> result;
+           auto vertices = self.Intersections(_plane);
+           for (auto & v : vertices)
+           {
+             result.push_back(v);
+           }
+           return result;
+         },
+         "Get intersection between a plane and the box's edges. "
+         "Edges contained on the plane are ignored.")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a);
+}
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__BOX_HH_

src/python_pybind11/src/Cylinder.hh

@@ -0,0 +1,118 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__CYLINDER_HH_
+#define IGNITION_MATH_PYTHON__CYLINDER_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+#include <pybind11/stl.h>
+
+#include <ignition/math/Cylinder.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Cylinder
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void defineMathCylinder(py::module &m, const std::string &typestr)
+{
+
+  using Class = ignition::math::Cylinder<T>;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def(py::init<const T, const T,
+                  const ignition::math::Quaternion<T>&>(),
+         py::arg("_length") = 0,
+         py::arg("_radius") = 0,
+         py::arg("_rotOffset") = ignition::math::Quaternion<T>::Identity)
+    .def(py::init<const T, const T,
+                  const ignition::math::Material&,
+                  const ignition::math::Quaternion<T>&>(),
+         py::arg("_length") = 0,
+         py::arg("_radius") = 0,
+         py::arg("_material") = ignition::math::Material(),
+         py::arg("_rotOffset") = ignition::math::Quaternion<T>::Identity)
+    .def(py::self == py::self)
+    .def("radius",
+         &Class::Radius,
+         "Get the radius in meters.")
+    .def("set_radius",
+         &Class::SetRadius,
+         "Set the radius in meters.")
+    .def("length",
+         &Class::Length,
+         "Get the length in meters.")
+    .def("set_length",
+         &Class::SetLength,
+         "Set the length in meters.")
+    .def("rotational_offset",
+         &Class::RotationalOffset,
+         "Get the rotation offset.")
+    .def("set_rotational_offset",
+         &Class::SetRotationalOffset,
+         "Set the rotation offset.")
+    .def("mat",
+         &Class::Mat,
+         py::return_value_policy::reference,
+         "Get the material associated with this box.")
+    .def("set_mat",
+         &Class::SetMat,
+         "Set the material associated with this box.")
+    .def("volume",
+         &Class::Volume,
+         "Get the volume of the box in m^3.")
+    .def("density_from_mass",
+         &Class::DensityFromMass,
+         "Compute the box's density given a mass value.")
+    .def("set_density_from_mass",
+         &Class::SetDensityFromMass,
+         "Set the density of this box based on a mass value.")
+    .def("mass_matrix",
+         &Class::MassMatrix,
+         "Get the mass matrix for this box. This function "
+         "is only meaningful if the box's size and material "
+         "have been set.")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a);
+}
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__CYLINDER_HH_